I’m running an arducopter SITL with Gazebo as described here. Using Gazebo Simulator with SITL — Dev documentation
Everything is working fine except for the fact that it can take about 60-90 seconds for the EKF to converge on a position solution to allow arming in GPS dependant modes.
Is there a way to speed this up or force the EKF into a solution? I’ve tried increasing SIM_SPEEDUP significantly, but it doesn’t seem to make a lot of difference.
Agreed. The entire Gazebo SITL section of the wiki needs to be rewritten to bring it up to date with the changes I’ve made to the plugins. The task list is to give a heads up to the dev team what I’m planning and break up the job into manageable pieces for me to check off as I work through them.